CN105328442A - Screw tightening apparatus - Google Patents
Screw tightening apparatus Download PDFInfo
- Publication number
- CN105328442A CN105328442A CN201510471490.8A CN201510471490A CN105328442A CN 105328442 A CN105328442 A CN 105328442A CN 201510471490 A CN201510471490 A CN 201510471490A CN 105328442 A CN105328442 A CN 105328442A
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- screw member
- hole
- rotary rod
- screwed
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/02—Arrangements for handling screws or nuts
- B25B23/04—Arrangements for handling screws or nuts for feeding screws or nuts
- B25B23/06—Arrangements for handling screws or nuts for feeding screws or nuts using built-in magazine
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B23/00—Details of, or accessories for, spanners, wrenches, screwdrivers
- B25B23/02—Arrangements for handling screws or nuts
- B25B23/08—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation
- B25B23/12—Arrangements for handling screws or nuts for holding or positioning screw or nut prior to or during its rotation using magnetic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
Abstract
A screw tightening apparatus includes a magazine plate with a through hole formed in a first direction, a rotary rod device configured to rotate a rotary part having a tip portion, a servo motor which moves the magazine plate in a second direction, a cylinder device which moves the rotary rod device in the first direction, and a screw tightening control unit which controls the servo motor so as to locate the tip portion of the rotary rod device coaxially with the through hole, and controls the cylinder device so as to cause the tip portion of the rotary part to pass the through hole and to abut on the head of the bolt.
Description
Technical field
The present invention relates to a kind of screwed tight device screw member with head being screwed to the screwed hole of screwed tight object.
Background technology
In the past, the screwed tight unit of known a kind of leading section by being arranged at robot carried out the device (such as with reference to Japanese Unexamined Patent Publication 6-218637 publication) of screwed tight operation.Device described in Japanese Unexamined Patent Publication 6-218637 publication possesses and is formed on the outer periphery the discoideus magazine (magazine) of multiple screw thread retention groove and the tightening machine relative to magazine relative movement.The screw member with head is had with removably mode elastic bearing in each retention groove of magazine, after the head of the slot with screw member that make tightening machine is chimeric, by making magazine carry out spinning movement, taking off screw member from magazine, carrying out tightening of screw member by tightening machine.
But in the device described in above-mentioned Japanese Unexamined Patent Publication 6-218637 publication, need to make magazine carry out spinning movement to take off screw member from magazine, apparatus structure becomes complicated.In addition, by screw member from after magazine takes off completely, carry out tightening of screw member by tightening machine, therefore the cycle time of screw member tightening operation entirety is elongated.
Summary of the invention
A mode of the present invention is the screwed tight device of the screwed hole for the screw member with head being screwed to screwed tight object, this screwed tight device possesses magazine plate, and this magazine plate has: second of the opposite side of first surface and this first surface; From the through hole that first surface to the second face is formed in a first direction; And screw member configuration section, it is formed at the open end of the first surface side of through hole, the mode making screw member block through hole with the head of this screw member and through hole be configured at coaxial on.Screwed tight device possesses rotary rod device, and this rotary rod device has rotating part and rotary driving part, and this rotating part extends abreast to make the leading section mode relative with second of magazine plate and first direction, and this rotary driving part makes leading section rotate.Screwed tight device possesses: the first moving part, and it makes magazine plate in the second direction vertical with first direction relative to rotary rod device relative movement; And second moving part, it makes rotary rod device move in a first direction.Screwed tight device possesses screwed tight control part, this screwed tight control part controls the first moving part, with make the leading section of rotary rod device and through hole be positioned at coaxial on, and the second moving part is controlled, with be positioned at through hole in the leading section of rotary rod device coaxial on state under, make the through through hole in the leading section of rotary rod device and abut against with the head of screw member.
Accompanying drawing explanation
Object of the present invention, feature and advantage can become clearer and more definite by the explanation of the following embodiment be associated with accompanying drawing.In the figure,
Fig. 1 is the figure of the structure of the screwed tight device represented involved by embodiments of the present invention,
Fig. 2 is the amplification stereogram of the screwed tight unit of the screwed tight device of pie graph 1,
Fig. 3 is the main portion sectional view of the magazine plate of Fig. 2,
Fig. 4 is the block diagram of the control structure of the screwed tight device represented involved by embodiments of the present invention,
Fig. 5 is the flow chart of the example representing the process performed in the robot controller of Fig. 4,
Fig. 6 A is the first figure of the action of the screwed tight device illustrated involved by embodiments of the present invention,
Fig. 6 B is the second figure of the action of the screwed tight device illustrated involved by embodiments of the present invention,
Fig. 6 C is the 3rd figure of the action of the screwed tight device illustrated involved by embodiments of the present invention,
Fig. 7 is the figure of the variation representing Fig. 1,
Fig. 8 is the amplification stereogram of the screwed tight unit of the screwed tight device of pie graph 7.
Detailed description of the invention
Below, with reference to Fig. 1 ~ Fig. 8, embodiments of the present invention are described.Fig. 1 is the figure of the structure of the screwed tight device 100 represented involved by embodiments of the present invention.Screwed tight device 100 is the devices for the screw member 2 with head being screwed to the screwed hole being arranged at object 1, has screwed tight unit 101 and the robot 102 to screwed tight unit 101 conveying object 1.
Robot 102 is vertical multi-joint robot, has: basal part 10; The base portion 11 on basal part 10 is mounted in the mode that can rotate; Rotatably be supported in the first arm 12 of base portion 11; Rotatably be supported in the joint portion 13 of the leading section of the first arm 12; And be rotatably supported in the second arm 14 of joint portion 13.Robot 102 has: the joint portion 15 being rotatably supported in the second arm 14; The flange 16 of joint portion 15 is supported in the mode that can rotate; And be installed on flange 16 and for the hand 17 of holding object 1.Each joint portion of robot 102 is provided with servomotor 18 (Fig. 4), and robot 102 is driven by servomotor 18.Position and the posture of object 1 can be changed by driven machine people 102.
Fig. 2 is the amplification stereogram of the major part structure representing screwed tight unit 101.In addition, below, for convenience of explanation, define fore-and-aft direction, left and right directions and above-below direction as shown in Figure, the structure in each portion is described according to this definition.Screwed tight unit 101 has magazine plate 20 and rotary rod device 30, this magazine plate 20 is provided with multiple screw member 2 in advance, screw member 2 for fastening with the head of these screw members 2, and is screwed to the screwed hole of object 1 by this rotary rod device 30.Magazine plate 20 and rotary rod device 30 are supported in framework 4 respectively.
Framework 4 has: base plate 41; Erect the pillar 42 of front and back on base plate 41 a pair; Be fixedly installed on the upper end of pillar 42 and the upper board 43 extended in the longitudinal direction; And be fixedly installed on the side panel 44 of right flank of pillar 42.The ball-screw (not illustrating) extended in the longitudinal direction is supported in upper board 43 in the mode that can rotate.Ball-screw is screwed with nut (not illustrating), is provided integrally with sliding component 45 with nut.Servomotor 46 is linked with in the end of ball-screw.When the driving by servomotor 46, ball-screw rotates, sliding component 45 moves in the longitudinal direction along upper board 43.
Magazine plate 20 is the board members being formed as having in the lateral direction fixed width substantially rectangular shape elongated in the longitudinal direction, is fixed on the upper end of sliding component 45.Thus, magazine plate 20 is upper mobile at fore-and-aft direction (arrow A direction) integratedly with sliding component 45 by the driving of servomotor 46.On the upper surface 21 of magazine plate 20, fore-and-aft direction is equally spaced formed with multiple screw member configuration section 23, and each screw member configuration section 23 configures screw member 2 respectively.
Fig. 3 is the main portion sectional view of magazine plate 20, and the structure of screw member configuration section 23 is mainly shown.As shown in Figure 3, in magazine plate 20, in the position than sliding component 45 side of keeping right, centered by the axis L1 of above-below direction, have through hole 24 from upper surface 21 to lower surface 22.Further, the upper end of through hole 24 is provided with the groove portion 25 coaxial with through hole 24.At the chimeric magnet 26 having ring-type in groove portion 25, this magnet 26 has the through hole with through hole 24 same diameter, and screw member configuration section 23 comprises this magnet 26.
Screw member 2 configures in the mode that the axis L2 as its central shaft is consistent with the axis L1 of through hole 24 towards above-below direction.The diameter of the head 2a of screw member 2 is larger than the diameter of through hole 24.Therefore, the end face of head 2a and screw member configuration section 23 abut against.In this condition, head 2a blocks through hole 24, and the threaded portion 2b of screw member 2 upward.Screw member 2 is inserted with packing ring 2c from 2b side, threaded portion.The instrument insertion groove 2d inserted the leading section 34 for rotary rod device 30 is provided with at the end face of head 2a.
Screw member 2 is containing magnetic materials such as iron.In the present embodiment, screw member configuration section 23 comprises magnet 26, therefore, it is possible to keep screw member 2 by magnetic force screw member 2 to be positioned the in stable condition of screw member configuration section 23.The diameter of the through hole 24 of magazine plate 20 is larger than the external diameter of the leading section 34 of rotary rod device 30.Therefore, it is possible to make leading section 34 contiguously leading section 34 is not inserted into through hole 24 with magazine plate 20, the leading section 34 of rotary rod device 30 can be made to be inserted into the instrument insertion groove 2d of screw member 2 via through hole 24.
As shown in Figure 2, rotary rod device 30 rotating part 32 that there is basal part 31 and can rotate centered by axis L3 (Fig. 3).Rotating part 32 extends in the vertical direction.Rotating part 32 has leading section 34, is formed with the tool part that the instrument insertion groove 2d to the head 2a of screw member 2 inserts in leading section 34.The electro-motor 33 for carrying out rotary actuation to the leading section 34 of rotating part 32 is built-in with at basal part 31.
Be provided with cylinder assembly 35 on the right side of side panel 44, this cylinder assembly 35 has the bar 37 can retreated in the vertical direction by pressure-air.In the upper end of bar 37, support 36 is installed.Support 36 extends to the right, and the basal part 31 of rotary rod device 30 is fixed in support 36 to make leading section 34 state upward of rotary rod device 30.Thus, rotary rod device 30 is by the driving of cylinder assembly 35, and the position of maintenance axis L3 is above elevated at above-below direction (arrow B direction) in the below of magazine plate 20 with immobilizing.In addition, axis L3 is the rotating shaft of rotating part 32, and suitable with the axis of rotary rod device 30.The mode of the position consistency of the position of the axis L3 of rotary rod device 30 and the axis L1 of through hole 24 can be made to set the position of the left and right directions of rotary rod device 30 by magazine plate 20 movement in front-rear direction.
Fig. 4 is the block diagram of the control structure of the screwed tight device 100 represented involved by embodiments of the present invention.In the diagram, robot controller 50 is configured to comprise arithmetic processing apparatus, and this arithmetic processing apparatus has CPU (CentralProcessingUnit: CPU), ROM (ReadOnlyMemory: read-only storage), RAM (RandomAccessMemory: random access memory) and other peripheral circuit etc.In robot controller 50, be transfused to the signal from input part 51 and torque sensor 52, this input part 51 inputs various instruction, and this torque sensor 52 detects moment of torsion during rotary rod device 30 rotary actuation.Robot controller 50 performs process described later based on the signal from input part 51 and torque sensor 52, the servomotor 18 driven robot, makes the electro-motor 33 of magazine plate 20 servomotor 46 of movement, the cylinder assembly 35 that rotary rod device 30 be elevated and driving rotary rod device 30 in the longitudinal direction export control signal respectively.
Fig. 5 is the flow chart of the example representing the process performed in robot controller 50.After being configured with screw member 2 in the screw member configuration section 23 of magazine plate 20, such as, being indicated screwed tight operation by the operation of input part 51 when starting, starting the process shown in this flow chart.When screwed tight operation starts, the leading section 34 of rotary rod device 30 is positioned at lower surface 22 position on the lower than magazine plate 20, and rotary rod device 30 is in initial position.
In step sl, control signal is exported to servomotor 46 and moves in the longitudinal direction to make magazine plate 20, with the position consistency of the axis L3 of the position and rotary rod device 30 that make the axis L1 of through hole 24.In step s 2, export control signal to servomotor 18 carry out driven machine people 102 and object 1 is moved, the screwed hole 1a (Fig. 6 B) of the object 1 held to make the hand 17 of robot 102 is relative with the leading section of the screw member 2 on magazine plate, and the axis L4 of the central shaft as screwed hole 1a is positioned on the axis L2 of screw member 2.
In step s3, control signal is exported to cylinder assembly 35, make rotary rod device 30 rise to assigned position.Such as, the head 2a of the leading section 34 and screw member 2 that rise to rotary rod device 30 abuts against and the position that abuts against, the bottom of the screwed hole 1a of the leading section of screw member 2 and object 1.In step s 4 which, control signal is exported to electro-motor 33 and rotates to make rotating part 32, and control signal is exported to cylinder assembly 35 rise to make rotary rod device 30.That is, the rotating part 32 comprising leading section 34 is rotated while rise.Thus, screw member 2 and screwed hole 1a screw togather.
In step s 5, based on the signal from torque sensor 52, judge that whether Twisting Moment of Screw Thread is as more than setting.That is, judge whether screw member 2 has been screwed to the last of the screwed hole 1a of object 1.If step S5, by affirmative, enters step S6, if be denied, enters step S8.
In step s 8, export control signal to electro-motor 33 to stop making the rotation of the rotating part 32 of rotary rod device 30.And in step s 9, control signal is exported to cylinder assembly 35 and declines to make rotary rod device 30, make rotary rod device 30 turn back to original position (initial position), and turn back to step S1.Namely, in this case, be judged as that the screwed hole of object 1 departs from therefore moment of torsion relative to the relative position of screw member 2 and do not reach more than setting, make rotary rod device 30 turn back to original position and again perform the movement of magazine plate 20 and the movement of object 1.
On the other hand, in step s 6, be judged as having screwed togather of screw member 2, control signal exported to electro-motor 33 and stops making the rotation of the rotating part 32 of rotary rod device 30.In the step s 7, control signal is exported to cylinder assembly 35 and declines to make rotary rod device 30, make rotary rod device 30 turn back to original position (initial position).Then, in step slo, judge whether screw member 2 completes to the tightening of screwed hole 1a of object 1.Such as, when screwing togather screw member 2 to multiple screwed hole 1a of object 1, determine whether all to have screwed togather screw member 2 to multiple screwed hole 1a.If step S10 is denied, turn back to step S1.In this case, magazine plate 20 is made to move 1 spacing in the longitudinal direction to repeat identical process.If step S10, by affirmative, ends process.
The action of the screwed tight device 100 involved by present embodiment is summarized as follows.When carrying out screwed tight operation, as preparing operation in advance, as shown in Figure 6A, such as the head 2a of screw member 2 is manually configured to the screw member configuration section 23 of the upper surface 21 of magazine plate 20 by user.In addition, the configuration of screw member 2 also automatically can be carried out by robot.In this condition, the screwed tight operation utilizing screwed tight device 100 to carry out is started.
In this case, first, make magazine plate 20 move in the longitudinal direction to be positioned at coaxial upper (step S1) with the through hole 24 of the leading section 34 with magazine plate 20 that make rotary rod device 30.Further, as shown in Figure 6B, make object 1 move to make the screwed hole 1a of object 1 relative with the leading section (front end of threaded portion 2b) of screw member 2 and be positioned at coaxial upper (step S2) with screw member 2.In addition, in fig. 6b, show the parts of upper and lower a pair as object 1 and the example utilizing screw member 2 fastening.
Then, make rotary rod device 30 increase from initial position, the leading section 34 of rotating part 32 is abutted against via the instrument insertion groove 2d of through hole 24 with the head 2a of screw member 2.Rotary rod device 30 is made to increase further from this state, keep leading section 34 to make screw member 2 increase together with rotary rod device 30 with being engaged to instrument insertion groove 2d, the screwed hole 1a of the leading section of screw member 2 and object 1 is abutted against (step S3).Then, rotating part 32 is made to rotate rise (step S4).Thus, as shown in Figure 6 C, screw member 2 screws togather with the screwed hole 1a of object 1.
When screw member 2 is screwed to last, Twisting Moment of Screw Thread is more than setting.Thus, the rotation in portion 32 of stopping the rotation, makes rotary rod device 30 decline and turns back to initial position (step S6, step S7).By more than, having tightened of single screw member 2.Afterwards, make the position of magazine plate 20 offset 1 spacing in the longitudinal direction, next screw member 2 is similarly screwed to the screwed hole 1a of object 1.When having tightened of whole screw member 2, terminate screwed tight operation.
Following such action effect can be played according to the present embodiment.
(1) screwed tight device 100 has screwed tight unit 101 and robot 102.Screwed tight unit 101 possesses magazine plate 20 and rotary rod device 30, this magazine plate 20 has through hole 24 in the vertical direction, and the open end of through hole 24 be formed state that screw member configuration section 23 makes screw member 2 to block through hole 24 with the head 2a of screw member 2 and through hole 24 be configured at coaxial on, this rotary rod device 30 is extended in the vertical direction, has the electro-motor 33 that leading section 34 is rotated.Screwed tight unit 101 possess make magazine plate 20 in the longitudinal direction movement servomotor 46 and make the cylinder assembly 35 of rotary rod device 30 movement in the vertical direction.Screwed tight unit 101 has robot controller 50, this robot controller 50 pairs of servomotors 46 control, with make the leading section 34 of rotary rod device 30 and through hole 24 be positioned at coaxial on, and cylinder assembly 35 is controlled, with be positioned at through hole 24 in the leading section 34 of rotary rod device 30 coaxial on state under, make the through through hole 24 in the leading section 34 of rotary rod device 30 and abut against with the head 2a of screw member 2.Thus, the direction of taking off the direction of screw member 2 and threaded together component 2 from magazine plate 20 is mutually the same, therefore can realize taking off and the movement of screw member 2 to tightening direction of screw member 2 by single actuator (cylinder assembly 35).Thus, apparatus structure is simplified, and can form at an easy rate.In addition, taking off and tightening of screw member 2 can be carried out by common action (rising of rotary rod device 30), therefore, it is possible to shorten the cycle time of screw member tightening operation.
(2) by robot 102 come mobile object thing 1 with make the screwed hole 1a of object 1 relative with the leading section of the screw member 2 being configured at screw member configuration section 23 and with screw member 2 be positioned at coaxial on, therefore, it is possible to the easily position of regulating object thing 1 and posture.Thus, when Twisting Moment of Screw Thread do not reach more than setting and screw member 2 tighten failure, again the position of regulating object thing 1 and posture can carry out screw member tightening operation.
(3) robot controller 50 controlled by the servomotor 18 driven robot controls the servomotor 46 that magazine plate drives, therefore, it is possible to hold the mutual position relationship ground of object 1 and magazine plate 20 by screw member 2 precision well position alignment in the screwed hole 1a of object 1.
(4) magnet 26 is provided with in screw member configuration section 23, therefore, it is possible to screw member 2 is stably configured at screw member configuration section 23.Thus, can prevent the position of screw member 2 from offseting, drop and carry out stable screwed tight operation.
Above screwed tight device 100 can carry out various distortion.Fig. 7 is the variation of Fig. 1.The difference of Fig. 7 and Fig. 1 is the structure of screwed tight unit 101.Fig. 8 is the enlarged drawing of the screwed tight unit 101 of Fig. 7.In fig. 8, magazine plate 20 is configured to discoid.Magazine plate 20 is rotated by the driving of servomotor 46, by robot controller 50 calculate position with make to be placed in screw member 2 on magazine plate and rotary rod device 30 be positioned at coaxial on.
In addition, in above-mentioned embodiment (Fig. 2) and variation (Fig. 8), through hole 24 is formed with in the vertical direction to lower surface 22 (the second face) from the upper surface 21 (first surface) of magazine plate 20, and rotary rod device 30 is moved in the vertical direction, as long as but the moving direction arranging the direction of through hole 24 and rotary rod device 30 is mutually the same, then first direction also can be the direction (such as left and right directions) beyond above-below direction.Thus, magazine plate 20 also can be direction beyond fore-and-aft direction relative to the second direction (direction vertical with first direction) of rotary rod device 30 relative movement.In above-mentioned embodiment (Fig. 3), be provided with magnet 26 in screw member configuration section 23, but the structure of screw member configuration section 23 is not limited thereto.Such as, screw member configuration section 23 can comprise the groove portion supplying the head 2a of screw member 2 to be fitted to the upper surface 21 of magazine plate 20.The head 2a of screw member 2 stably can be kept by the groove portion being arranged at the upper surface of magazine plate 20.
In the above-described embodiment, magazine plate 20 is made to comprise servomotor 46 relative to the first moving part of rotary rod device 30 relative movement.That is, by servomotor 46, magazine plate 20 is moved.But, as long as the first moving part makes magazine plate 20 in the second direction (in Fig. 2 fore-and-aft direction) that the axis L1 with through hole 24 is vertical relative to rotary rod device 30 relative movement, arbitrary structure can be adopted.Such as, also can be that fixing magazine plate 20, makes rotary rod device 30 move in a second direction.
In addition, in the above-described embodiment, the second moving part of rotary rod device 30 movement is in a first direction made to comprise cylinder assembly 35.That is, by cylinder assembly 35, rotary rod device 30 is moved on first direction (in Fig. 2 above-below direction) towards the head 2a of screw member 2.Second moving part is not limited to this structure, can adopt the arbitrary structure making rotary rod device 30 movement in a first direction.
In addition, in the above-described embodiment, the object moving part of screwed tight object 1 movement is made to comprise robot 102.That is, by robot 102, screwed tight object 1 is moved.Object moving part is not limited to which, and the device that also can be configured to beyond by robot makes screwed tight object move.
Further, in the above-described embodiment, the rotary driving part making leading section 34 rotate comprises electro-motor 33.Rotary driving part is not limited to which, and the device that also can be configured to beyond by electro-motor makes leading section 34 rotate.
The structure of the robot controller 50 in above-mentioned embodiment is examples, if to the first moving part (servomotor 46) control to make the leading section 34 of rotary rod device 30 and through hole 24 be positioned at coaxial on, and to the second moving part (cylinder assembly 35) control be positioned at through hole 24 in the leading section 34 of rotary rod device 30 coaxial on state under, make the through through hole 24 in the leading section 34 of rotary rod device 30 and abut against with the head 2a of screw member 2, structure then as the robot controller 50 of screwed tight control part can be arbitrary structures.In addition, if control object thing moving part (robot 102) with make the screwed hole 1a of object 1 relative with the leading section of the screw member 2 being configured at screw member configuration section 23 and with screw member 2 be positioned at coaxial on, then the structure as the robot controller of object control part also can be arbitrary structures.In the above-described embodiment, come control 102 and screwed tight unit 101 by robot controller 50, but also can be controlled screwed tight unit 101 by the control device different from robot controller 50.
According to the present invention, by rotary rod device movement in a first direction, the screw member with head can be taken off from magazine plate, and taken off above-mentioned screw member can be screwed at that the screwed hole of screwed tight object.Thus, apparatus structure is simplified, and can form at an easy rate, and can shorten the cycle time of screwed tight operation.
Above explanation is an example only, and only otherwise damage feature of the present invention, the present invention is not limited to above-mentioned embodiment and variation.In the structural element of above-mentioned embodiment and variation, comprising the homogeneity that maintains invention and can replacing and replace is apparent structural element.That is, the alternate manner can considered in the scope of technological thought of the present invention is also contained in scope of the present invention.In addition, also above-mentioned embodiment and the one or more of variation at random can be combined.
Claims (5)
1. a screwed tight device, for the screw member with head being screwed to the screwed hole of screwed tight object, the feature of this screwed tight device is to possess:
Magazine plate, it has: second of the opposite side of first surface and this first surface; From the through hole that above-mentioned first surface is formed in a first direction to above-mentioned second face; And screw member configuration section, it is formed at the open end of the above-mentioned first surface side of above-mentioned through hole, the mode making above-mentioned screw member block above-mentioned through hole with the head of this screw member and above-mentioned through hole be configured at coaxial on;
Rotary rod device, it has rotating part and rotary driving part, and this rotating part extends abreast with above-mentioned second relative mode of leading section and above-mentioned magazine plate and above-mentioned first direction, and this rotary driving part is used for above-mentioned leading section is rotated;
First moving part, it makes above-mentioned magazine plate in the second direction vertical with above-mentioned first direction relative to above-mentioned rotary rod device relative movement;
Second moving part, it makes above-mentioned rotary rod device move up in above-mentioned first party; And
Screwed tight control part, it controls above-mentioned first moving part, with make the above-mentioned leading section of above-mentioned rotary rod device and above-mentioned through hole be positioned at coaxial on, and above-mentioned second moving part is controlled, with be positioned at above-mentioned through hole in the above-mentioned leading section of above-mentioned rotary rod device coaxial on state under, make the through above-mentioned through hole in the above-mentioned leading section of above-mentioned rotary rod device and abut against with the head of above-mentioned screw member.
2. screwed tight device according to claim 1, is characterized in that also possessing:
Object moving part, it makes above-mentioned screwed tight object move; And
Object control part, it controls above-mentioned object moving part, with make the above-mentioned screwed hole of above-mentioned screwed tight object relative with the leading section of the above-mentioned screw member being configured at above-mentioned screw member configuration section and with above-mentioned screw member be positioned at coaxial on.
3. screwed tight device according to claim 2, is characterized in that,
Above-mentioned object moving part comprises robot,
Above-mentioned object control part is the robot controller controlled above-mentioned robot.
4. screwed tight device according to claim 3, is characterized in that,
Above-mentioned screwed tight control part is included in above-mentioned robot controller.
5. the screwed tight device according to any one in Claims 1-4, is characterized in that,
Above-mentioned screw member configuration section comprises magnet.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014158896A JP6333661B2 (en) | 2014-08-04 | 2014-08-04 | Screw tightening device |
| JP2014-158896 | 2014-08-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105328442A true CN105328442A (en) | 2016-02-17 |
| CN105328442B CN105328442B (en) | 2019-01-11 |
Family
ID=55079721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510471490.8A Active CN105328442B (en) | 2014-08-04 | 2015-08-04 | Screw thread device for screwing up |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US9782863B2 (en) |
| JP (1) | JP6333661B2 (en) |
| CN (1) | CN105328442B (en) |
| DE (1) | DE102015112239B4 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106329399A (en) * | 2016-11-01 | 2017-01-11 | 广东电网有限责任公司电力科学研究院 | Control method of transmission line bolt fastening robot and controller |
| TWI715065B (en) * | 2019-06-14 | 2021-01-01 | 友創工業股份有限公司 | Screw system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10120364B2 (en) * | 2015-03-27 | 2018-11-06 | GM Global Technology Operations LLC | Self-corrective nut running for robotic applications |
| CN106425424A (en) * | 2016-10-20 | 2017-02-22 | 长治清华机械厂 | Multi-position group cylinder assembling apparatus |
| DE102017117961B4 (en) * | 2017-08-08 | 2023-04-27 | M B N- Maschinenbaubetriebe Neugersdorf GmbH | Method and device for preparing screws |
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Also Published As
| Publication number | Publication date |
|---|---|
| US20160031051A1 (en) | 2016-02-04 |
| US9782863B2 (en) | 2017-10-10 |
| DE102015112239B4 (en) | 2019-11-07 |
| DE102015112239A1 (en) | 2016-02-04 |
| JP2016034687A (en) | 2016-03-17 |
| CN105328442B (en) | 2019-01-11 |
| JP6333661B2 (en) | 2018-05-30 |
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